Environment. We use a similar robotic platform as in [1]}. The platform includes a 6-DoF WidowX robot with a 1-DoF parallel-jaw gripper installed in front of a kitchen-themed tabletop manipulation environment. A LogiTech webcam is mounted over-the-shoulder to capture \(128 \times 128\)  RGB images as observations. The action is 7-dimensional which includes the 6 DoF gripper pose and 1 continuous value which controls the finger status. We use the toy kitchen 2 from [1]} as the target scene, where all of the target tasks take place in.
